Human Lower Limb Motion Analysis Using Wearable Ground Reaction Force Sensors and Motion Sensors

康复对预防卧床病人增加和改善其功能障碍非常重要。患者关节力矩或肌肉动作的信息对医生或PT判断哪种康复方案最适合每个患者非常有用。多相机三维运动测量与强光板地面反力测量相结合已得到广泛应用。它们应用逆动力学来估计关节力矩。然而，这种方法需要相当大的工作空间，并且日常康复费用非常昂贵。本课题开发了一种新型的可穿戴式三维地面反力传感器和可穿戴式运动传感器。在患者的鞋内安装并联式6轴负载传感器、3轴负载传感器和运动传感器，即可穿戴式地反传感器系统。将反作用力在局部坐标系下转化为直角坐标系。将这种新型的可穿戴式反力传感器和可穿戴式运动传感器结合在人体下肢上，提出了人体下肢关节力矩的估计方法。进行了步态分析，实验结果表明，所提方法与常规方法对地面反作用力和下肢关节力矩的测量结果比较好。

Rehabilitation is very important in preventing an increase of bedridden patients and improving their impairments. Information on the joint moment or muscle action of patients is very useful for doctor or PT to judge what kind of rehabilitation menu is optimum for each patient. The integration of three dimensional motion measurement with multi-camera system and ground reaction measurement with forte plate has been widely used. They apply inverse dynamics to estimate joint moment . However such a method needs sizable work space and it is very expensive for daily rehabilitation.In this research project, a new wearable 3-dimentinal ground reaction force sensor and wearable motion sensor are developed. A parallel type 6-axial load sell, a 3-axial load cell and a motion sensor are mounted in the shoes of patient which is the wearable ground reaction sensor system. Reaction force in local coordinate is transformed to the rectangular coordinate. By using this new wearable reaction force sensor and wearable motion sensor attached to the human lower limb, estimation method of joint moment of human lower limb is developed. Gait analysis is carried out and experimental results of the proposed methods on ground reaction force and joint moment of the lower limb compare well with those by using the conventional method.